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<div class="title">robot_backend.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// BSD 3-Clause License</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">// Copyright (C) 2018-2019, Max Planck Gesellschaft</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// Copyright note valid unless otherwise stated in individual files.</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// All rights reserved.</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#pragma once</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;algorithm&gt;</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;cmath&gt;</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;cstdint&gt;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &lt;real_time_tools/process_manager.hpp&gt;</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &lt;real_time_tools/thread.hpp&gt;</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &lt;real_time_tools/threadsafe/threadsafe_timeseries.hpp&gt;</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#include &lt;real_time_tools/timer.hpp&gt;</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="preprocessor">#include &lt;robot_interfaces/monitored_robot_driver.hpp&gt;</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor">#include &lt;robot_interfaces/robot_data.hpp&gt;</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#include &lt;robot_interfaces/robot_driver.hpp&gt;</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacerobot__interfaces.html">robot_interfaces</a></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;{</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Action, <span class="keyword">typename</span> Observation&gt;</div><div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="classrobot__interfaces_1_1RobotBackend.html">   37</a></span>&#160;<span class="keyword">class </span><a class="code" href="classrobot__interfaces_1_1RobotBackend.html">RobotBackend</a></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;{</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="structrobot__interfaces_1_1RobotBackend_1_1Status.html">   40</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structrobot__interfaces_1_1RobotBackend_1_1Status.html">Status</a></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    {</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;        uint32_t action_repetitions;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    };</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    <span class="comment">// TODO add parameter: n_max_repeat_of_same_action</span></div><div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="classrobot__interfaces_1_1RobotBackend.html#a3120d5df6b7b64fa9bbcf229cf172a39">   53</a></span>&#160;<span class="comment"></span>    <a class="code" href="classrobot__interfaces_1_1RobotBackend.html#a3120d5df6b7b64fa9bbcf229cf172a39">RobotBackend</a>(</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;        std::shared_ptr&lt;<a class="code" href="classrobot__interfaces_1_1RobotDriver.html">RobotDriver&lt;Action, Observation&gt;</a>&gt; robot_driver,</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;        std::shared_ptr&lt;<a class="code" href="classrobot__interfaces_1_1RobotData.html">RobotData&lt;Action, Observation, Status&gt;</a>&gt; robot_data,</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">double</span> max_action_duration_s,</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">double</span> max_inter_action_duration_s)</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;        : robot_driver_(</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;              robot_driver, max_action_duration_s, max_inter_action_duration_s),</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;          robot_data_(robot_data),</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;          destructor_was_called_(false),</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;          max_action_repetitions_(0)</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    {</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;        thread_ = std::make_shared&lt;real_time_tools::RealTimeThread&gt;();</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;        thread_-&gt;create_realtime_thread(&amp;RobotBackend::loop, <span class="keyword">this</span>);</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    }</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="keyword">virtual</span> ~<a class="code" href="classrobot__interfaces_1_1RobotBackend.html">RobotBackend</a>()</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    {</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        destructor_was_called_ = <span class="keyword">true</span>;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        thread_-&gt;join();</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    }</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    uint32_t get_max_action_repetitions()</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    {</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        <span class="keywordflow">return</span> max_action_repetitions_;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    }</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="keywordtype">void</span> set_max_action_repetitions(<span class="keyword">const</span> uint32_t &amp;max_action_repetitions)</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    {</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        max_action_repetitions_ = max_action_repetitions;</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    }</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <span class="keywordtype">void</span> initialize()</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    {</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        robot_driver_.initialize();</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    }</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;<span class="keyword">private</span>:</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    <a class="code" href="classrobot__interfaces_1_1MonitoredRobotDriver.html">MonitoredRobotDriver&lt;Action, Observation&gt;</a> robot_driver_;</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    std::shared_ptr&lt;RobotData&lt;Action, Observation, Status&gt;&gt; robot_data_;</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    <span class="keywordtype">bool</span> destructor_was_called_;  <span class="comment">// should be atomic</span></div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    uint32_t max_action_repetitions_;</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    std::vector&lt;real_time_tools::Timer&gt; timers_;</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    std::shared_ptr&lt;real_time_tools::RealTimeThread&gt; thread_;</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    <span class="comment">// control loop ------------------------------------------------------------</span></div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    <span class="keyword">static</span> <span class="keywordtype">void</span> *loop(<span class="keywordtype">void</span> *instance_pointer)</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    {</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        ((<a class="code" href="classrobot__interfaces_1_1RobotBackend.html">RobotBackend</a> *)(instance_pointer))-&gt;loop();</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">nullptr</span>;</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    }</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    <span class="keywordtype">void</span> loop()</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    {</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        timers_.resize(10);</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        real_time_tools::set_cpu_dma_latency(0);</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        <span class="comment">// wait until first desired_action was received</span></div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        <span class="comment">// ----------------------------</span></div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        <span class="keywordflow">while</span> (!destructor_was_called_ &amp;&amp;</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;               !robot_data_-&gt;desired_action-&gt;wait_for_timeindex(0, 0.1))</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        {</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        }</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">long</span> <span class="keywordtype">int</span> t = 0; !destructor_was_called_; t++)</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        {</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;            <span class="comment">// TODO: figure out latency stuff!! open /dev/cpu_dma_latency:</span></div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;            <span class="comment">// Permission denied</span></div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;            timers_[0].tac_tic();</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;            timers_[6].tic();</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;            <span class="comment">// get latest observation from robot and append it to robot_data_</span></div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;            <span class="comment">// --------</span></div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;            Observation observation = robot_driver_.<a class="code" href="classrobot__interfaces_1_1MonitoredRobotDriver.html#a5fcda4be4d96bb803bf87d1b1588079e">get_latest_observation</a>();</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;            timers_[6].tac();</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;            timers_[1].tic();</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;            robot_data_-&gt;observation-&gt;append(observation);</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;            <span class="comment">// TODO: for some reason this sometimes takes more than 2 ms</span></div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;            <span class="comment">// i think this may be due to a non-realtime thread blocking the</span></div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;            <span class="comment">// timeseries. this is in fact an issue, we might have to duplicate</span></div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;            <span class="comment">// all the timeseries and have a realtime thread writing back and</span></div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;            <span class="comment">// forth</span></div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;            timers_[1].tac();</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;            timers_[2].tic();</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;            <span class="comment">// if the robot has a finite max_inter_action_duration_s (not NAN or</span></div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;            <span class="comment">// infinite, meaning it requires receiving actions in fixed time</span></div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;            <span class="comment">// intervals), but robot_data_ has not received yet the next action</span></div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;            <span class="comment">// to apply, we optionally repeat the previous action.</span></div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;            <a class="code" href="structrobot__interfaces_1_1RobotBackend_1_1Status.html">Status</a> status = {0};</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;            <span class="keywordflow">if</span> (std::isfinite(</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;                    robot_driver_.get_max_inter_action_duration_s()) &amp;&amp;</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;                robot_data_-&gt;desired_action-&gt;newest_timeindex() &lt; t)</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;            {</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;                uint32_t action_repetitions =</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;                    robot_data_-&gt;status-&gt;newest_element().action_repetitions;</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;                <span class="keywordflow">if</span> (action_repetitions &lt; max_action_repetitions_)</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;                {</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;                    robot_data_-&gt;desired_action-&gt;append(</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;                        robot_data_-&gt;desired_action-&gt;newest_element());</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;                    status.action_repetitions = action_repetitions + 1;</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;                }</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;            }</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;            robot_data_-&gt;status-&gt;append(status);</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;            timers_[2].tac();</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;            timers_[3].tic();</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;            <span class="comment">// TODO: this may wait forever</span></div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;            Action desired_action = (*robot_data_-&gt;desired_action)[t];</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;            timers_[3].tac();</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;            timers_[4].tic();</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;            Action applied_action = robot_driver_.<a class="code" href="classrobot__interfaces_1_1MonitoredRobotDriver.html#a745e701e6fd91be74be5022752ba3ef9">apply_action</a>(desired_action);</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;            timers_[4].tac();</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;            timers_[5].tic();</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;            robot_data_-&gt;applied_action-&gt;append(applied_action);</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;            timers_[5].tac();</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;            <span class="comment">// if (t % 5000 == 0) {</span></div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;            <span class="comment">//   for (size_t i = 0; i &lt; 7; i++) {</span></div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;            <span class="comment">//     std::cout &lt;&lt; i &lt;&lt; &quot; --------------------------------------&quot;</span></div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;            <span class="comment">//               &lt;&lt; std::endl;</span></div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;            <span class="comment">//     timers_[i].print_statistics();</span></div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;            <span class="comment">//   }</span></div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;            <span class="comment">// }</span></div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        }</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    }</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;};</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;}  <span class="comment">// namespace robot_interfaces</span></div><div class="ttc" id="classrobot__interfaces_1_1RobotDriver_html"><div class="ttname"><a href="classrobot__interfaces_1_1RobotDriver.html">robot_interfaces::RobotDriver</a></div><div class="ttdoc">Driver for interfacing the actual robot hardware or simulation. </div><div class="ttdef"><b>Definition:</b> robot_driver.hpp:29</div></div>
<div class="ttc" id="classrobot__interfaces_1_1RobotData_html"><div class="ttname"><a href="classrobot__interfaces_1_1RobotData.html">robot_interfaces::RobotData</a></div><div class="ttdoc">Contains all the input and output data of the robot. </div><div class="ttdef"><b>Definition:</b> robot_data.hpp:50</div></div>
<div class="ttc" id="classrobot__interfaces_1_1MonitoredRobotDriver_html_a745e701e6fd91be74be5022752ba3ef9"><div class="ttname"><a href="classrobot__interfaces_1_1MonitoredRobotDriver.html#a745e701e6fd91be74be5022752ba3ef9">robot_interfaces::MonitoredRobotDriver::apply_action</a></div><div class="ttdeci">virtual Action apply_action(const Action &amp;desired_action) final</div><div class="ttdoc">Apply desired action on the robot. </div><div class="ttdef"><b>Definition:</b> monitored_robot_driver.hpp:98</div></div>
<div class="ttc" id="classrobot__interfaces_1_1RobotBackend_html_a3120d5df6b7b64fa9bbcf229cf172a39"><div class="ttname"><a href="classrobot__interfaces_1_1RobotBackend.html#a3120d5df6b7b64fa9bbcf229cf172a39">robot_interfaces::RobotBackend::RobotBackend</a></div><div class="ttdeci">RobotBackend(std::shared_ptr&lt; RobotDriver&lt; Action, Observation &gt;&gt; robot_driver, std::shared_ptr&lt; RobotData&lt; Action, Observation, Status &gt;&gt; robot_data, const double max_action_duration_s, const double max_inter_action_duration_s)</div><div class="ttdef"><b>Definition:</b> robot_backend.hpp:53</div></div>
<div class="ttc" id="classrobot__interfaces_1_1RobotBackend_html"><div class="ttname"><a href="classrobot__interfaces_1_1RobotBackend.html">robot_interfaces::RobotBackend</a></div><div class="ttdoc">Communication link between RobotDriver and RobotData. </div><div class="ttdef"><b>Definition:</b> robot_backend.hpp:37</div></div>
<div class="ttc" id="structrobot__interfaces_1_1RobotBackend_1_1Status_html"><div class="ttname"><a href="structrobot__interfaces_1_1RobotBackend_1_1Status.html">robot_interfaces::RobotBackend::Status</a></div><div class="ttdef"><b>Definition:</b> robot_backend.hpp:40</div></div>
<div class="ttc" id="namespacerobot__interfaces_html"><div class="ttname"><a href="namespacerobot__interfaces.html">robot_interfaces</a></div><div class="ttdef"><b>Definition:</b> __init__.py:1</div></div>
<div class="ttc" id="classrobot__interfaces_1_1MonitoredRobotDriver_html_a5fcda4be4d96bb803bf87d1b1588079e"><div class="ttname"><a href="classrobot__interfaces_1_1MonitoredRobotDriver.html#a5fcda4be4d96bb803bf87d1b1588079e">robot_interfaces::MonitoredRobotDriver::get_latest_observation</a></div><div class="ttdeci">virtual Observation get_latest_observation()</div><div class="ttdoc">Return the latest observation immediately. </div><div class="ttdef"><b>Definition:</b> monitored_robot_driver.hpp:117</div></div>
<div class="ttc" id="classrobot__interfaces_1_1MonitoredRobotDriver_html"><div class="ttname"><a href="classrobot__interfaces_1_1MonitoredRobotDriver.html">robot_interfaces::MonitoredRobotDriver</a></div><div class="ttdoc">Wrapper for RobotDriver that monitors timing. </div><div class="ttdef"><b>Definition:</b> monitored_robot_driver.hpp:46</div></div>
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